2P1-M05 跳躍・走行・舞踏ロボット用バイオミメティックアクチュエータの開発 : シリコンゴム腱構造付一軸アクチュエータの開発(バイオミメティクス・バイオメカトロニクス)

概要

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We have been developing motor-tendon-joint series connection type biomimetic soft actuators to make robots act jumping, running and dancing like animals. For that purpose, we have been developing a silicone rubber compression type tendon structure for robots which act as a tendon of the muscular-skeletal system of the animals. In the previous paper, we decided the basic construction of the tendon structure and made 1 axis type actuator with this tendon structure. However, the compliance of the tendon structure was not in order to the softness of the silicone rubber. Moreover, it was clarified that the power of the 1 axis type actuator is insufficient for the jumping actuator. Therefore, in this study, we modified the cover plate of the silicone rubber by making 4 holes for each rubbers to allow the rubber's deformation to the side direction. 1 axis actuator was also modified (newly manufactured) by installing 200W D.C. coreless motor instead of 150W motor. The results showed that we can set the rigidity of the tendon structure by changing the softness of the silicone rubber. The newly made actuator can jump 254mm from the statue of the full close position of the knee joint.
一般社団法人日本機械学会の論文
2011-05-26